/** @brief Function for main application entry.
*/
int main(void)
{
gpiote_init();
ppi_init();
timer2_init();
// Enable interrupt on Timer
NVIC_EnableIRQ(TIMER2_IRQn);
__enable_irq();
// Enabling constant latency as indicated by PAN 11 "HFCLK: Base current with HFCLK
// running is too high" found at Product Anomaly document found at
// https://www.nordicsemi.com/eng/Products/Bluetooth-R-low-energy/nRF51822/#Downloads
//
// @note This example does not go to low power mode therefore constant latency is not needed.
// However this setting will ensure correct behaviour when routing TIMER events through
// PPI (shown in this example) and low power mode simultaneously.
NRF_POWER->TASKS_CONSTLAT = 1;
// Start the timer.
NRF_TIMER2->TASKS_START = 1;
while (true)
{
// Do nothing.
}
}
void main_init(void) {
uint8_t itmp;
serial_init();
PORTD |= 7<<PD5;
DDRD |= 15<<PD4;
fdevopen((void*)serial_putc, (void*)serial_get);
serial_set_echo(SERIAL_ECHO_OFF);
for(itmp=0; itmp<20; itmp++) printf("\r\n");
printf("Initialization\r\n");
printf("Initializing delay timer (2)...\r\n");
timer2_init();
adc_init();
timer2_wait(STD_DELAY);
printf("Disable JTAG...\r\n");
cli();
MCUCSR |= (1<<JTD);
MCUCSR |= (1<<JTD); // 2 mal in Folge ,vgl. Datenblatt fuer mehr Information
sei();
timer2_wait(STD_DELAY);
initial_power_check();
printf("EEPROM Check:");
if(eeprom_is_config_valid()==1) printf(COLOR_GREEN" Valid!"COLOR_OFF);
else printf(COLOR_RED" Invalid!"COLOR_OFF);
printf("\r\n");
}
/*==================================================================================
* 函 数 名： Set_System
* 参 数： None
* 功能描述: 初始化系统
* 返 回 值： None
* 备 注：
* 作 者： gaodb
* 创建时间： 2012.10
==================================================================================*/
void Set_System(void)
{
rcc_init();
peri_clk_init();
NVIC_Configuration();
pins_init();
systick_init();
timer2_init();
timer4_init();
RAY12_ADC_Init();
LCD_Config();
DispInit();
uart1_init(BAUD_RATE_57600);
uart2_init(BAUD_RATE_57600);
dac1_init();
sys_variable_init();
}
/**
* @brief Function for application main entry.
*/
int main(void)
{
gpiote_init();
bsp_configuration();
ppi_init();
timer2_init();
// Enabling constant latency as indicated by PAN 11 "HFCLK: Base current with HFCLK
// running is too high" found at Product Anomaly document found at
// https://www.nordicsemi.com/eng/Products/Bluetooth-R-low-energy/nRF51822/#Downloads
//
// @note This example does not go to low power mode therefore constant latency is not needed.
// However this setting will ensure correct behaviour when routing TIMER events through
// PPI (shown in this example) and low power mode simultaneously.
NRF_POWER->TASKS_CONSTLAT = 1;
// Enable interrupt on Timer 2.
NVIC_EnableIRQ(TIMER2_IRQn);
__enable_irq();
// Workaround for PAN-73: Use of an EVENT from any TIMER module to trigger a TASK in GPIOTE or
// RTC using the PPI could fail under certain conditions.
*(uint32_t *)0x4000AC0C = 1;
// Start the timer.
NRF_TIMER2->TASKS_START = 1;
while (true)
{
// Do nothing.
}
}
int main( void )
{
uint16_t mtr_cnt[4] = {0,0,0,0};
cli();
palsetimer_init(); /* タイマ1インプットキャプチャ設定 */
timer2_init(); /* タイマ2割り込み設定 */
dig_init(); /* 出力ポート指定、初期化 */
sei(); /* SREG の設定 - 割り込み有効 */
rpm = 4321;
count = 0;
wait_time = 0; /* タイマークリア */
while(1)
{
dig_putrpm(); /* 前の RPM を1sec表示。その間にモーターカウント。 */
/* RPM を算出
* 実測値より、5パルスあたり1回転のため、
* rpm = mtr_cnt × 60 ÷ (5*サンプリングsec)
*/
mtr_cnt[sec_cnt] = count;
count = 0; /* 1secのカウント開始 */
rpm = (mtr_cnt[0] + mtr_cnt[1] + mtr_cnt[2] + mtr_cnt[3]) * (60/(5*RPM_SAMPLING_SEC));
sec_cnt++;
sec_cnt &= 0x3; /* 0-3を繰り返す */
}
}
void board_init(void)
{
/* SysTick end of count event each 10ms */
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_Config(RCC_Clocks.HCLK_Frequency / 100);
timer2_init();
timer14_init();
Usart_Init(USART2,9600);
send_data(USART2, "uart2 is OK!\r\n", strlen("uart2 is OK!\r\n"));
//不同的传感器的引脚及用到的板级外设不同
//sensor_init();
#if defined (BEEP)
//蜂鸣器用作调试设备
beep_init();
Delay(20);
BEEP_OFF();
#endif
#if defined (DEBUG)
//串口用作调试端口
Usart_Init(DEBUG_UART,115200);
send_data(DEBUG_UART, "uart is OK!\r\n", strlen("uart is OK!\r\n"));
#endif
#if defined (EEPROM)
//24cxx IIC接口初始化
IIC_Init();
#endif
}
void main(void)
{
u8 TxFlag=0;
u8 RxFlag=0;
InitSfr(); //PIC16 Register Initialization
PowerUpDelay(); //Power on delay
InitPort(); //PIC16 IO port Initialization
timer1_init();
timer2_init();
LCD_Init(); //LCD initialize
BeepOff(); //Close buzzer
ModuleSelectModeEntryCheck(); //Confirm whether you can enter module select mode
Uart_init();
PowerOnMusic(); //Power on music
while(1)
{
MenuConfig(); //Menu config & display
if(gb_ModuleWorkEnableFlag)
{
RFM22B_Running(gb_SystemMode,gb_ModuleWorkMode,gb_ParameterChangeFlag,&TxFlag,&RxFlag,&gb_RF_RSSI);
if(TxFlag==1) //Sent successfully
{
TxFlag=0;
gw_SendDataCount++;
if(gw_SendDataCount>9999){gw_SendDataCount=0;}
}
if(RxFlag==1) //Successfully received
{
RxFlag=0;
gw_ReceiveDataCount++;
if(gw_ReceiveDataCount>9999){gw_ReceiveDataCount=0;}
}
if(gb_ParameterChangeFlag==1){gb_ParameterChangeFlag=0;} //clear parameter flag
if(gb_ModuleWorkMode!=C_ModuleWorkMode_FSK && gb_ModuleWorkMode!=C_ModuleWorkMode_OOK && gb_ModuleWorkMode!=C_ModuleWorkMode_LoRa)
{
gb_StatusTx=0;
gb_StatusRx=0;
}
}
else
{
gb_StatusTx=0;
gb_StatusRx=0;
}
if(gb_ErrorFlag!=1)
{
TxLED_Deal(); //Tx LED display deal
RxLED_Deal(); //Rx LED display deal
}
}
}
/**
* @brief Function for application main entry.
*/
int main(void)
{
timer0_init(); // Timer used to blink the LEDs.
timer1_init(); // Timer to generate events on even number of seconds.
timer2_init(); // Timer to generate events on odd number of seconds.
ppi_init(); // PPI to redirect the event to timer start/stop tasks.
uint32_t err_code;
const app_uart_comm_params_t comm_params =
{
RX_PIN_NUMBER,
TX_PIN_NUMBER,
RTS_PIN_NUMBER,
CTS_PIN_NUMBER,
APP_UART_FLOW_CONTROL_ENABLED,
false,
UART_BAUDRATE_BAUDRATE_Baud115200
};
APP_UART_FIFO_INIT(&comm_params,
UART_RX_BUF_SIZE,
UART_TX_BUF_SIZE,
uart_error_handle,
APP_IRQ_PRIORITY_LOW,
err_code);
APP_ERROR_CHECK(err_code);
// Enabling constant latency as indicated by PAN 11 "HFCLK: Base current with HFCLK
// running is too high" found at Product Anomaly document found at
// https://www.nordicsemi.com/eng/Products/Bluetooth-R-low-energy/nRF51822/#Downloads
//
// @note This example does not go to low power mode therefore constant latency is not needed.
// However this setting will ensure correct behaviour when routing TIMER events through
// PPI (shown in this example) and low power mode simultaneously.
NRF_POWER->TASKS_CONSTLAT = 1;
// Start clock.
nrf_drv_timer_enable(&timer0);
nrf_drv_timer_enable(&timer1);
nrf_drv_timer_enable(&timer2);
// Loop and increment the timer count value and capture value into LEDs. @note counter is only incremented between TASK_START and TASK_STOP.
while (true)
{
printf("Current count: %d\n\r", (int)nrf_drv_timer_capture(&timer0,NRF_TIMER_CC_CHANNEL0));
/* increment the counter */
nrf_drv_timer_increment(&timer0);
nrf_delay_ms(100);
}
}
int main() {
ioinit();
timer2_init();
timer2_overflow_hook = timer2_hook;
timer1_init();
_delay_ms(100);
spi_init();
sound_reset();
usart_init(1);// usart_init(23); // 9600bps
spdif_configure();
ad1955_configure();
ad1955_mute();
#define NO_NOISE_MEASURE
#ifdef NOISE_MEASURE
ad1955_unmute();
cli();
set_sleep_mode(SLEEP_MODE_PWR_DOWN);
for(;;) {
sleep_mode();
}
#endif
spdif_selectChannel(1);
spdif_dumpRegisters();
printf("\n\nSVODAC V%s\n", idstring);
for (;;) {
if (main_state_machine() == STATE_READY) {
if ((REQUEST_STATUS & _BV(REQUEST_MUTE)) != 0) {
ad1955_mute();
} else if ((REQUEST_STATUS & _BV(REQUEST_UNMUTE)) != 0) {
ad1955_unmute();
}
if ((REQUEST_STATUS & _BV(REQUEST_STOP)) != 0) {
//printf("STOP");
spdif_stop();
} else if ((REQUEST_STATUS & _BV(REQUEST_RUN)) != 0) {
//printf("RUN");
spdif_run();
}
REQUEST_STATUS = 0;
sleep_mode();
}
}
return 0; // make happy
}
void SERVO_init(void){
//timer0 initlization for auto scan.
timer0_comp_init();
timer2_init();
SERVO_DDR |= (_BV(SERVO_ENA)|_BV(SERVO_DIR)|_BV(SERVO_PUL));
SERVO_PORT |= (_BV(SERVO_ENA));
SERVO_enable();
servo_position_buffer = ucHoldingBuf[P_SERVO_POSITION_REG];
timer2_enable();
}
/*------------------------------------------------------------------------
SPI制御レジスタをマスターモードで初期化する.
-d0 | fOSC/2 ... 6MHz
-d1 | fOSC/4 ... 3MHz
-d2 | fOSC/8 ... 1.5MHz
-d3 | fOSC/16 ... 750kHz
-d4 | fOSC/32 ... 375kHz
-d5 | fOSC/64 ... 187kHz
-d6 | fOSC/128... 93kHz
-d7以降はリニアに遅くなります.
*------------------------------------------------------------------------
*/
void timer2_interval(uchar spi_delay)
{
if (spi_delay==0) {timer2_init(0,2-1);} //-d0 | fOSC/2 ... 6MHz
else if(spi_delay==1) {timer2_init(0,4-1);} //-d1 | fOSC/4 ... 3MHz
else if(spi_delay==2) {timer2_init(0,8-1);} //-d2 | fOSC/8 ... 1.5MHz
else if(spi_delay==3) {timer2_init(1,4-1);} //-d3 | fOSC/16 ... 750kHz
else if(spi_delay==4) {timer2_init(1,8-1);} //-d4 | fOSC/32 ... 375kHz
else if(spi_delay==5) {timer2_init(2,4-1);} //-d5 | fOSC/64 ... 187kHz
else if(spi_delay>=6) {
timer2_init(2,spi_delay); //-d6〜|fOSC/128 ... 93kHz
}
}
/********************************************************************
* 初期化関数
********************************************************************
*/
static void InitializeSystem(void)
{
#if RAM_SERIAL
extern void set_serial_number(void);
set_serial_number();
#endif
#if defined(__18F14K50)
// 入力ピンをデジタルモードにする.
ANSEL=0;
ANSELH=0;
#endif
ADCON1 = 0x0F; //Need to make sure RB4 can be used as a digital input pin
#if 1
// HIDaspx , PICwriter用 portb,portcを全入力にする.
TRISB = 0xFF;
TRISC = 0xFF;
#endif
#if defined(USE_USB_BUS_SENSE_IO)
tris_usb_bus_sense = INPUT_PIN;
#endif
#if defined(USE_SELF_POWER_SENSE_IO)
tris_self_power = INPUT_PIN;
#endif
mInitializeUSBDriver();
UserInit();
#if USE_PS2KEYBOARD // PS/2キーボードI/F を使用する.
kbd_init();
#endif
#if TIMER2_INTERRUPT
// timer2_init(0x80 |(15<<3)| 2,255); // 割り込みON,postscale 1/16,prescale 1/16,1/256 = 183.10 H
// timer2_init(0x80 |(14<<3)| 2,249); // 割り込みON,postscale 1/15,prescale 1/16,1/250 = 200Hz
// timer2_init(0x80 |(14<<3)| 2, 49); // 割り込みON,postscale 1/15,prescale 1/16,1/50 = 1000Hz
timer2_init(0x80 |(14<<3)| 2, 4); // 割り込みON,postscale 1/15,prescale 1/16,1/5 = 10kHz
// 割り込み許可.
InitTimer2InterruptLow(); // Timer2割り込みを low Priorityに設定する.
#else
INTCONbits.GIEL = 0; // Low Priority 割り込みを禁止.
INTCONbits.GIEH = 0; // High Priority 割り込みを禁止.
#endif
}
// ------------------------------------------------------------------------
// main
// ------------------------------------------------------------------------
void c_main()
{
io_printf (IO_STD, "starting dumped packet bouncer\n");
timer_init (TICK_PERIOD); // setup timer to maybe turn on bouncing
cc_init (); // setup comms. cont. interrupt when not full
router_init (); // setup router to interrupt when dumping
#ifdef DEBUG
timer2_init (); // setup timer2 for profiling
#endif
cpu_sleep (); // Send core to sleep
}
uint16_t MPU6000::init()
{
if (_initialised) return _product_id;
_initialised = true;
SPI.begin();
SPI.setClockDivider (SPI_CLOCK_DIV16); // 1MHZ SPI rate
// we need to stop the barometer from holding the SPI bus
pinMode (40, OUTPUT);
digitalWrite (40, HIGH);
hardware_init();
timer2_init ();
timer2_start ();
return _product_id;
}
int main(void)
{
/* Intitialization */
gpiote_init();
ppi_init();
timer2_init();
/* Enable interrupt on Timer 2*/
NVIC_EnableIRQ(TIMER2_IRQn);
__enable_irq();
/* Start clock */
NRF_TIMER2->TASKS_START = 1;
while (true)
{
}
}
void init_devices2 (void)
{
DDRA=0x00;
DDRB&=~_BV(4);
DDRD&=~_BV(6);
PORTA=0xFF;
PORTB|=_BV(4);
PORTD|=_BV(6);
cli(); //Clears the global interrupts
DDRA |= (1 << PA7); // making servo contol pins as output
DDRD |= (1 << PD7);
uart0_init();
port_init();
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
timer2_init();
adc_init();
sei(); //Enables the global interrupts
}
int
main (void)
{
IRMP_DATA irmp_data;
irmp_init(); // initialize irmp
timer2_init(); // initialize timer2
for (;;)
{
if (irmp_get_data (&irmp_data))
{
// ir signal decoded, do something here...
// irmp_data.protocol is the protocol, see irmp.h
// irmp_data.address is the address/manufacturer code of ir sender
// irmp_data.command is the command code
// irmp_protocol_names[irmp_data.protocol] is the protocol name (if enabled, see irmpconfig.h)
}
}
}
void block_detect()
{
stop();
ssss =SREG;
cli();
timer0_init();
TIMSK |= (1 << OCIE0) | (1 << TOIE0); // timer 0 compare match and overflow interrupt enable
sei();
SREG = ssss;
drop_down();
_delay_ms(2000);
pickup();
//drop_down();
ssss =SREG;
cli();
timer2_init();
sei();
ssss = SREG;
forward();
}
void My_System_Init(void)
{
uint8_t flag, i=0;
NVIC_Configuration();
delay_init(72); //延时初始化
for(i=0;i<5;i++)
delay_Ms_Loop(1000); //上电短延时 确保供电稳定
LED_Init();
LEDALL_ON;
timer2_init(); //PWM输出定时器初始化
timer3_init(); //PWM输出定时器初始化
IIC_Init();
uart_init(38400); //调试用串口初始化
My_usart2_init(38400); //蓝牙用串口初始化
printf("欢迎使用启天科技BUTTERFLY四旋翼\r\n");
printf("QQ群：471023785\r\n");
LEDALL_OFF;
MPU6050_Init(); //6050初始化
SPI1_INIT(); //SPI初始化，用于nRF模块
flag = NRF_CHECK(); //检查NRF模块是否正常工作
if(flag != 1)
{
while(1)
{
LEDALL_OFF;
delay_Ms_Loop(200);
LEDALL_ON;
delay_Ms_Loop(200);
}
}
NRF24L01_INIT(); //nRF初始化
SetRX_Mode(); //设置为接收模式
NRF24L01_INIT(); //nRF初始化
NRF_GPIO_Interrupt_Init(); //nRF使用的外部中断的引脚初始化
tim4_init(); //定时中断，作为系统的控制频率
adcInit(); //ADC初始化，测量电池电压
}
/*!
* \fn main()
* \brief just to test PWM module
* \return none
*/
int main()
{
PCA0MD = 0x00;
PORT_Init();
OSCILLATOR_Init();
PCA0_Init();
timer_0_1_init();
timer2_init();
IN1 = 0;
IN2 = 1;
IN3 = 0;
IN4 = 1;
EA = 1;
//set_pwm_0_duty_cycle(20);
//set_pwm_1_duty_cycle(16);
while (1)
{
//set_pwm_0_duty_cycle(700);
//set_pwm_1_duty_cycle(660);
set_wheel_1_speed(50);
set_wheel_0_speed(50);
}
}
int main(void) {
uint16_t adc_data = 0;
sei(); // Enable interrupts
fosc_cal(); // Set calibrated 1MHz system clock
portb_init(); // Set up port B
usart_init(); // Set up the USART
timer2_init(); // Set up, stop, and reset timer2
timer0_init();
usart_puts("Initialize ADC\r\n");
adc_init();
usart_puts("Initialize LCD\r\n");
lcd_init(); // From LDC_driver
usart_puts("Start main loop\r\n");
lcd_puts("Hello",0); // From LCD_functions
timer2_start(); // Start stimulus
adc_mux(1); // Switch to the voltage reader at J407
for(;;) {
adc_read(&adc_data);
adc_report(adc_data);
OCR0A = (uint8_t)(adc_data);
}// end main for loop
} // end main
int main()
{
/* Semaphore creation */
vSemaphoreCreateBinary(ahrs_task_semaphore);
/* Peripheral initialization */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
led_init();
debug_port_init();
usart3_init(57600);
i2c1_init();
timer2_init();
//Make sure all the peripheral is finished the initialization
delay_ms(1000);
/* Device initialization */
while(mpu6050_init());
led_on(LED1); //Initialization is finished
/* Task creation */
//Attitude and Heading Reference System (AHRS) task
xTaskCreate(ahrs_task, (portCHAR *)"AHRS task",
4096, NULL, tskIDLE_PRIORITY + 2, NULL);
//USART plot task
xTaskCreate(usart_plot_task, (portCHAR *)"USART plot task",
2048, NULL, tskIDLE_PRIORITY + 1, NULL);
/* Start schedule */
vTaskStartScheduler();
return 0;
}
/*-------------------------------------------------------------------------------------------------------------------------------------------
* main function
*-------------------------------------------------------------------------------------------------------------------------------------------
*/
int
main ()
{
static uint_fast8_t last_ldr_value = 0xFF;
struct tm tm;
LISTENER_DATA lis;
ESP8266_INFO * esp8266_infop;
uint_fast8_t esp8266_is_up = 0;
uint_fast8_t code;
#if SAVE_RAM == 0
IRMP_DATA irmp_data;
uint32_t stop_time;
uint_fast8_t cmd;
#endif
uint_fast8_t status_led_cnt = 0;
uint_fast8_t display_flag = DISPLAY_FLAG_UPDATE_ALL;
uint_fast8_t show_temperature = 0;
uint_fast8_t time_changed = 0;
uint_fast8_t power_is_on = 1;
uint_fast8_t night_power_is_on = 1;
uint_fast8_t ldr_value;
uint_fast8_t ap_mode = 0;
SystemInit ();
SystemCoreClockUpdate(); // needed for Nucleo board
#if defined (STM32F103) // disable JTAG to get back PB3, PB4, PA13, PA14, PA15
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); // turn on clock for the alternate function register
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); // disable the JTAG, enable the SWJ interface
#endif
log_init (); // initilize logger on uart
#if SAVE_RAM == 0
irmp_init (); // initialize IRMP
#endif
timer2_init (); // initialize timer2 for IRMP, DCF77, EEPROM etc.
delay_init (DELAY_RESOLUTION_1_US); // initialize delay functions with granularity of 1 us
board_led_init (); // initialize GPIO for green LED on disco or nucleo board
button_init (); // initialize GPIO for user button on disco or nucleo board
rtc_init (); // initialize I2C RTC
eeprom_init (); // initialize I2C EEPROM
if (button_pressed ()) // set ESP8266 into flash mode
{
board_led_on ();
esp8266_flash ();
}
log_msg ("\r\nWelcome to WordClock Logger!");
log_msg ("----------------------------");
log_str ("Version: ");
log_msg (VERSION);
if (rtc_is_up)
{
log_msg ("rtc is online");
}
else
{
log_msg ("rtc is offline");
}
if (eeprom_is_up)
{
log_msg ("eeprom is online");
read_version_from_eeprom ();
log_printf ("current eeprom version: 0x%08x\r\n", eeprom_version);
if ((eeprom_version & 0xFF0000FF) == 0x00000000)
{ // Upper and Lower Byte must be 0x00
if (eeprom_version >= EEPROM_VERSION_1_5_0)
{
#if SAVE_RAM == 0
log_msg ("reading ir codes from eeprom");
remote_ir_read_codes_from_eeprom ();
#endif
log_msg ("reading display configuration from eeprom");
display_read_config_from_eeprom ();
log_msg ("reading timeserver data from eeprom");
timeserver_read_data_from_eeprom ();
}
if (eeprom_version >= EEPROM_VERSION_1_7_0)
{
log_msg ("reading night timers from eeprom");
night_read_data_from_eeprom ();
}
}
}
else
{
log_msg ("eeprom is offline");
}
ldr_init (); // initialize LDR (ADC)
display_init (); // initialize display
dcf77_init (); // initialize DCF77
night_init (); // initialize night time routines
short_isr = 1;
temp_init (); // initialize DS18xx
short_isr = 0;
display_reset_led_states ();
display_mode = display_get_display_mode ();
animation_mode = display_get_animation_mode ();
auto_brightness = display_get_automatic_brightness_control ();
if (eeprom_is_up)
{
if (eeprom_version != EEPROM_VERSION)
{
log_printf ("updating EEPROM to version 0x%08x\r\n", EEPROM_VERSION);
eeprom_version = EEPROM_VERSION;
write_version_to_eeprom ();
#if SAVE_RAM == 0
remote_ir_write_codes_to_eeprom ();
#endif
display_write_config_to_eeprom ();
timeserver_write_data_to_eeprom ();
night_write_data_to_eeprom ();
eeprom_version = EEPROM_VERSION;
}
}
ds3231_flag = 1;
#if SAVE_RAM == 0
stop_time = uptime + 3; // wait 3 seconds for IR signal...
display_set_status_led (1, 1, 1); // show white status LED
while (uptime < stop_time)
{
if (irmp_get_data (&irmp_data)) // got IR signal?
{
display_set_status_led (1, 0, 0); // yes, show red status LED
delay_sec (1); // and wait 1 second
(void) irmp_get_data (&irmp_data); // flush input of IRMP now
display_set_status_led (0, 0, 0); // and switch status LED off
log_msg ("calling IR learn function");
if (remote_ir_learn ()) // learn IR commands
{
remote_ir_write_codes_to_eeprom (); // if successful, save them in EEPROM
}
break; // and break the loop
}
}
#endif
display_set_status_led (0, 0, 0); // switch off status LED
esp8266_init ();
esp8266_infop = esp8266_get_info ();
while (1)
{
if (! ap_mode && esp8266_is_up && button_pressed ()) // if user pressed user button, set ESP8266 to AP mode
{
ap_mode = 1;
log_msg ("user button pressed: configuring esp8266 as access point");
esp8266_is_online = 0;
esp8266_infop->is_online = 0;
esp8266_infop->ipaddress[0] = '\0';
esp8266_accesspoint ("wordclock", "1234567890");
}
if (status_led_cnt)
{
status_led_cnt--;
if (! status_led_cnt)
{
display_set_status_led (0, 0, 0);
}
}
if ((code = listener (&lis)) != 0)
{
display_set_status_led (1, 0, 0); // got net command, light red status LED
status_led_cnt = STATUS_LED_FLASH_TIME;
switch (code)
{
case LISTENER_SET_COLOR_CODE: // set color
{
display_set_colors (&(lis.rgb));
log_printf ("command: set colors to %d %d %d\r\n", lis.rgb.red, lis.rgb.green, lis.rgb.blue);
break;
}
case LISTENER_POWER_CODE: // power on/off
{
if (power_is_on != lis.power)
{
power_is_on = lis.power;
display_flag = DISPLAY_FLAG_UPDATE_ALL;
log_msg ("command: set power");
}
break;
}
case LISTENER_DISPLAY_MODE_CODE: // set display mode
{
if (display_mode != lis.mode)
{
display_mode = display_set_display_mode (lis.mode);
display_flag = DISPLAY_FLAG_UPDATE_ALL;
log_printf ("command: set display mode to %d\r\n", display_mode);
}
break;
}
case LISTENER_ANIMATION_MODE_CODE: // set animation mode
{
if (animation_mode != lis.mode)
{
animation_mode = display_set_animation_mode (lis.mode);
animation_flag = 0;
display_flag = DISPLAY_FLAG_UPDATE_ALL;
log_printf ("command: set animation mode to %d\r\n", animation_flag);
}
break;
}
case LISTENER_DISPLAY_TEMPERATURE_CODE: // set animation mode
{
show_temperature = 1;
log_msg ("command: show temperature");
break;
}
case LISTENER_SET_BRIGHTNESS_CODE: // set brightness
{
if (auto_brightness)
{
auto_brightness = 0;
last_ldr_value = 0xFF;
display_set_automatic_brightness_control (auto_brightness);
}
display_set_brightness (lis.brightness);
display_flag = DISPLAY_FLAG_UPDATE_NO_ANIMATION;
log_printf ("command: set brightness to %d, disable autmomatic brightness control per LDR\r\n", lis.brightness);
break;
}
case LISTENER_SET_AUTOMATIC_BRIHGHTNESS_CODE: // automatic brightness control on/off
{
if (lis.automatic_brightness_control)
{
auto_brightness = 1;
log_msg ("command: enable automatic brightness control");
}
else
{
auto_brightness = 0;
log_msg ("command: disable automatic brightness control");
}
last_ldr_value = 0xFF;
display_set_automatic_brightness_control (auto_brightness);
break;
}
case LISTENER_TEST_DISPLAY_CODE: // test display
{
log_msg ("command: start display test");
display_test ();
break;
}
case LISTENER_SET_DATE_TIME_CODE: // set date/time
{
if (rtc_is_up)
{
rtc_set_date_time (&(lis.tm));
}
if (hour != (uint_fast8_t) lis.tm.tm_hour || minute != (uint_fast8_t) lis.tm.tm_min)
{
display_flag = DISPLAY_FLAG_UPDATE_ALL;
}
wday = lis.tm.tm_wday;
hour = lis.tm.tm_hour;
minute = lis.tm.tm_min;
second = lis.tm.tm_sec;
log_printf ("command: set time to %s %4d-%02d-%02d %02d:%02d:%02d\r\n",
wdays_en[lis.tm.tm_wday], lis.tm.tm_year + 1900, lis.tm.tm_mon + 1, lis.tm.tm_mday,
lis.tm.tm_hour, lis.tm.tm_min, lis.tm.tm_sec);
break;
}
case LISTENER_GET_NET_TIME_CODE: // get net time
{
net_time_flag = 1;
log_msg ("command: start net time request");
break;
}
case LISTENER_IR_LEARN_CODE: // IR learn
{
#if SAVE_RAM == 0
log_msg ("command: learn IR codes");
if (remote_ir_learn ())
{
remote_ir_write_codes_to_eeprom ();
}
#endif
break;
}
case LISTENER_SAVE_DISPLAY_CONFIGURATION: // save display configuration
{
display_write_config_to_eeprom ();
log_msg ("command: save display settings");
break;
}
}
}
if (auto_brightness && ldr_poll_brightness (&ldr_value))
{
if (ldr_value + 1 < last_ldr_value || ldr_value > last_ldr_value + 1) // difference greater than 2
{
log_printf ("ldr: old brightnes: %d new brightness: %d\r\n", last_ldr_value, ldr_value);
last_ldr_value = ldr_value;
display_set_brightness (ldr_value);
display_flag = DISPLAY_FLAG_UPDATE_NO_ANIMATION;
}
}
if (!esp8266_is_up) // esp8266 up yet?
{
if (esp8266_infop->is_up)
{
esp8266_is_up = 1;
log_msg ("esp8266 now up");
}
}
else
{ // esp8266 is up...
if (! esp8266_is_online) // but not online yet...
{
if (esp8266_infop->is_online) // now online?
{
char buf[32];
esp8266_is_online = 1;
log_msg ("esp8266 now online");
sprintf (buf, " IP %s", esp8266_infop->ipaddress);
display_banner (buf);
display_flag = DISPLAY_FLAG_UPDATE_ALL;
net_time_flag = 1;
}
}
}
if (dcf77_time(&tm))
{
display_set_status_led (1, 1, 0); // got DCF77 time, light yellow = green + red LED
status_led_cnt = 50;
if (rtc_is_up)
{
rtc_set_date_time (&tm);
}
if (hour != (uint_fast8_t) tm.tm_hour || minute != (uint_fast8_t) tm.tm_min)
{
display_flag = DISPLAY_FLAG_UPDATE_ALL;
}
wday = tm.tm_wday;
hour = tm.tm_hour;
minute = tm.tm_min;
second = tm.tm_sec;
log_printf ("dcf77: %s %4d-%02d-%02d %02d:%02d:%02d\r\n",
wdays_en[tm.tm_wday], tm.tm_year + 1900, tm.tm_mon + 1, tm.tm_mday, tm.tm_hour, tm.tm_min, tm.tm_sec);
}
if (ds3231_flag)
{
if (rtc_is_up && rtc_get_date_time (&tm))
{
if (hour != (uint_fast8_t) tm.tm_hour || minute != (uint_fast8_t) tm.tm_min)
{
display_flag = DISPLAY_FLAG_UPDATE_ALL;
}
wday = tm.tm_wday;
hour = tm.tm_hour;
minute = tm.tm_min;
second = tm.tm_sec;
log_printf ("read rtc: %s %4d-%02d-%02d %02d:%02d:%02d\r\n",
wdays_en[tm.tm_wday], tm.tm_year + 1900, tm.tm_mon + 1, tm.tm_mday, tm.tm_hour, tm.tm_min, tm.tm_sec);
}
ds3231_flag = 0;
}
if (auto_brightness && ldr_conversion_flag)
{
ldr_start_conversion ();
ldr_conversion_flag = 0;
}
if (net_time_flag)
{
if (esp8266_infop->is_online)
{
display_set_status_led (0, 0, 1); // light blue status LED
status_led_cnt = STATUS_LED_FLASH_TIME;
timeserver_start_timeserver_request (); // start a timeserver request, answer follows...
}
net_time_flag = 0;
net_time_countdown = 3800; // next net time after 3800 sec
}
if (show_time_flag) // set every full minute
{
#if WCLOCK24H == 1
display_flag = DISPLAY_FLAG_UPDATE_ALL;
#else
if (minute % 5)
{
display_flag = DISPLAY_FLAG_UPDATE_MINUTES; // only update minute LEDs
}
else
{
display_flag = DISPLAY_FLAG_UPDATE_ALL;
}
#endif
show_time_flag = 0;
}
if (power_is_on == night_power_is_on && night_check_night_times (power_is_on, wday, hour * 60 + minute))
{
power_is_on = ! power_is_on;
night_power_is_on = ! night_power_is_on;
display_flag = DISPLAY_FLAG_UPDATE_ALL;
log_printf ("Found Timer: %s at %02d:%02d\r\n", power_is_on ? "on" : "off", hour, minute);
}
if (show_temperature)
{
uint_fast8_t temperature_index;
show_temperature = 0;
if (ds18xx_is_up)
{
short_isr = 1;
temperature_index = temp_read_temp_index ();
short_isr = 0;
log_printf ("got temperature from DS18xxx: %d%s\r\n", temperature_index / 2, (temperature_index % 2) ? ".5" : "");
}
else if (rtc_is_up)
{
temperature_index = rtc_get_temperature_index ();
log_printf ("got temperature from RTC: %d%s\r\n", temperature_index / 2, (temperature_index % 2) ? ".5" : "");
}
else
{
temperature_index = 0xFF;
log_msg ("no temperature available");
}
if (temperature_index != 0xFF)
{
display_temperature (power_is_on, temperature_index);
#if WCLOCK24H == 1 // WC24H shows temperature with animation, WC12H rolls itself
uint32_t stop_time;
stop_time = uptime + 5;
while (uptime < stop_time)
{
if (animation_flag)
{
animation_flag = 0;
display_animation ();
}
}
#endif
display_flag = DISPLAY_FLAG_UPDATE_ALL; // force update
}
}
if (display_flag) // refresh display (time/mode changed)
{
log_msg ("update display");
#if WCLOCK24H == 1
if (display_mode == MODES_COUNT - 1) // temperature
{
uint_fast8_t temperature_index;
if (ds18xx_is_up)
{
short_isr = 1;
temperature_index = temp_read_temp_index ();
short_isr = 0;
log_printf ("got temperature from DS18xxx: %d%s\r\n", temperature_index / 2, (temperature_index % 2) ? ".5" : "");
}
else if (rtc_is_up)
{
temperature_index = rtc_get_temperature_index ();
log_printf ("got temperature from RTC: %d%s\r\n", temperature_index / 2, (temperature_index % 2) ? ".5" : "");
}
else
{
temperature_index = 0x00;
log_msg ("no temperature available");
}
display_clock (power_is_on, 0, temperature_index - 20, display_flag); // show new time
}
else
{
display_clock (power_is_on, hour, minute, display_flag); // show new time
}
#else
display_clock (power_is_on, hour, minute, display_flag); // show new time
#endif
display_flag = DISPLAY_FLAG_NONE;
}
if (animation_flag)
{
animation_flag = 0;
display_animation ();
}
if (dcf77_flag)
{
dcf77_flag = 0;
dcf77_tick ();
}
#if SAVE_RAM == 0
cmd = remote_ir_get_cmd (); // get IR command
if (cmd != REMOTE_IR_CMD_INVALID) // got IR command, light green LED
{
display_set_status_led (1, 0, 0);
status_led_cnt = STATUS_LED_FLASH_TIME;
}
if (cmd != REMOTE_IR_CMD_INVALID) // if command valid, log command code
{
switch (cmd)
{
case REMOTE_IR_CMD_POWER: log_msg ("IRMP: POWER key"); break;
case REMOTE_IR_CMD_OK: log_msg ("IRMP: OK key"); break;
case REMOTE_IR_CMD_DECREMENT_DISPLAY_MODE: log_msg ("IRMP: decrement display mode"); break;
case REMOTE_IR_CMD_INCREMENT_DISPLAY_MODE: log_msg ("IRMP: increment display mode"); break;
case REMOTE_IR_CMD_DECREMENT_ANIMATION_MODE: log_msg ("IRMP: decrement animation mode"); break;
case REMOTE_IR_CMD_INCREMENT_ANIMATION_MODE: log_msg ("IRMP: increment animation mode"); break;
case REMOTE_IR_CMD_DECREMENT_HOUR: log_msg ("IRMP: decrement hour"); break;
case REMOTE_IR_CMD_INCREMENT_HOUR: log_msg ("IRMP: increment hour"); break;
case REMOTE_IR_CMD_DECREMENT_MINUTE: log_msg ("IRMP: decrement minute"); break;
case REMOTE_IR_CMD_INCREMENT_MINUTE: log_msg ("IRMP: increment minute"); break;
case REMOTE_IR_CMD_DECREMENT_BRIGHTNESS_RED: log_msg ("IRMP: decrement red brightness"); break;
case REMOTE_IR_CMD_INCREMENT_BRIGHTNESS_RED: log_msg ("IRMP: increment red brightness"); break;
case REMOTE_IR_CMD_DECREMENT_BRIGHTNESS_GREEN: log_msg ("IRMP: decrement green brightness"); break;
case REMOTE_IR_CMD_INCREMENT_BRIGHTNESS_GREEN: log_msg ("IRMP: increment green brightness"); break;
case REMOTE_IR_CMD_DECREMENT_BRIGHTNESS_BLUE: log_msg ("IRMP: decrement blue brightness"); break;
case REMOTE_IR_CMD_INCREMENT_BRIGHTNESS_BLUE: log_msg ("IRMP: increment blue brightness"); break;
case REMOTE_IR_CMD_DECREMENT_BRIGHTNESS: log_msg ("IRMP: decrement brightness"); break;
case REMOTE_IR_CMD_INCREMENT_BRIGHTNESS: log_msg ("IRMP: increment brightness"); break;
case REMOTE_IR_CMD_GET_TEMPERATURE: log_msg ("IRMP: get temperature"); break;
}
}
switch (cmd)
{
case REMOTE_IR_CMD_POWER:
{
power_is_on = ! power_is_on;
display_flag = DISPLAY_FLAG_UPDATE_ALL;
break;
}
case REMOTE_IR_CMD_OK:
{
display_write_config_to_eeprom ();
break;
}
case REMOTE_IR_CMD_DECREMENT_DISPLAY_MODE: // decrement display mode
{
display_mode = display_decrement_display_mode ();
display_flag = DISPLAY_FLAG_UPDATE_ALL;
break;
}
case REMOTE_IR_CMD_INCREMENT_DISPLAY_MODE: // increment display mode
{
display_mode = display_increment_display_mode ();
display_flag = DISPLAY_FLAG_UPDATE_ALL;
break;
}
case REMOTE_IR_CMD_DECREMENT_ANIMATION_MODE: // decrement display mode
{
animation_mode = display_decrement_animation_mode ();
display_flag = DISPLAY_FLAG_UPDATE_ALL;
break;
}
case REMOTE_IR_CMD_INCREMENT_ANIMATION_MODE: // increment display mode
{
animation_mode = display_increment_animation_mode ();
display_flag = DISPLAY_FLAG_UPDATE_ALL;
break;
}
case REMOTE_IR_CMD_DECREMENT_HOUR: // decrement hour
{
if (hour > 0)
{
hour--;
}
else
{
hour = 23;
}
second = 0;
display_flag = DISPLAY_FLAG_UPDATE_ALL;
time_changed = 1;
break;
}
case REMOTE_IR_CMD_INCREMENT_HOUR: // increment hour
{
if (hour < 23)
{
hour++;
}
else
{
hour = 0;
}
second = 0;
display_flag = DISPLAY_FLAG_UPDATE_ALL;
time_changed = 1;
break;
}
case REMOTE_IR_CMD_DECREMENT_MINUTE: // decrement minute
{
if (minute > 0)
{
minute--;
}
else
{
minute = 59;
}
second = 0;
display_flag = DISPLAY_FLAG_UPDATE_ALL;
time_changed = 1;
break;
}
case REMOTE_IR_CMD_INCREMENT_MINUTE: // increment minute
{
if (minute < 59)
{
minute++;
}
else
{
minute = 0;
}
second = 0;
display_flag = DISPLAY_FLAG_UPDATE_ALL;
time_changed = 1;
break;
}
case REMOTE_IR_CMD_DECREMENT_BRIGHTNESS_RED: // decrement red brightness
{
display_decrement_color_red ();
display_flag = DISPLAY_FLAG_UPDATE_NO_ANIMATION;
break;
}
case REMOTE_IR_CMD_INCREMENT_BRIGHTNESS_RED: // increment red brightness
{
display_increment_color_red ();
display_flag = DISPLAY_FLAG_UPDATE_NO_ANIMATION;
break;
}
case REMOTE_IR_CMD_DECREMENT_BRIGHTNESS_GREEN: // decrement green brightness
{
display_decrement_color_green ();
display_flag = DISPLAY_FLAG_UPDATE_NO_ANIMATION;
break;
}
case REMOTE_IR_CMD_INCREMENT_BRIGHTNESS_GREEN: // increment green brightness
{
display_increment_color_green ();
display_flag = DISPLAY_FLAG_UPDATE_NO_ANIMATION;
break;
}
case REMOTE_IR_CMD_DECREMENT_BRIGHTNESS_BLUE: // decrement blue brightness
{
display_decrement_color_blue ();
display_flag = DISPLAY_FLAG_UPDATE_NO_ANIMATION;
break;
}
case REMOTE_IR_CMD_INCREMENT_BRIGHTNESS_BLUE: // increment blue brightness
{
display_increment_color_blue ();
display_flag = DISPLAY_FLAG_UPDATE_NO_ANIMATION;
break;
}
case REMOTE_IR_CMD_AUTO_BRIGHTNESS_CONTROL: // toggle auto brightness
{
auto_brightness = ! auto_brightness;
last_ldr_value = 0xFF;
display_set_automatic_brightness_control (auto_brightness);
display_flag = DISPLAY_FLAG_UPDATE_NO_ANIMATION;
break;
}
case REMOTE_IR_CMD_DECREMENT_BRIGHTNESS: // decrement brightness
{
if (auto_brightness)
{
auto_brightness = 0;
last_ldr_value = 0xFF;
display_set_automatic_brightness_control (auto_brightness);
display_flag = DISPLAY_FLAG_UPDATE_NO_ANIMATION;
}
display_decrement_brightness ();
display_flag = DISPLAY_FLAG_UPDATE_NO_ANIMATION;
break;
}
case REMOTE_IR_CMD_INCREMENT_BRIGHTNESS: // increment brightness
{
if (auto_brightness)
{
auto_brightness = 0;
last_ldr_value = 0xFF;
display_set_automatic_brightness_control (auto_brightness);
display_flag = DISPLAY_FLAG_UPDATE_NO_ANIMATION;
}
display_increment_brightness ();
display_flag = DISPLAY_FLAG_UPDATE_NO_ANIMATION;
break;
}
case REMOTE_IR_CMD_GET_TEMPERATURE: // get temperature
{
show_temperature = 1;
break;
}
default:
{
break;
}
}
#endif // SAVE_RAM == 0
if (time_changed)
{
if (rtc_is_up)
{
tm.tm_hour = hour;
tm.tm_min = minute;
tm.tm_sec = second;
rtc_set_date_time (&tm);
}
time_changed = 0;
}
}
return 0;
}
/*************************************************************************
* Description: Initialization for Timer
* Returns: none
* Notes: none
*************************************************************************/
void timer_init(
void)
{
timer2_init();
}
int main(void)
{
const char* str;
/* initialize stuff commen for both base and node */
config_load();
lcd_init();
rtc_init();
adc_init();
uart_init();
//Timer2 används för att hålla våran radio-timeslot (kanske bara behövs när vi är nod?.
timer2_init();
/* set portC as output and all leds off */
DDRC = 0xFF;
PORTC = 0xff;
/* lets initialize modules specific for the mode */
if(config.flags.mode == CONFIG_MODE_BASE)
{
suart_init();
str = "\n00init\nSystem is now online!\n";
while(*str)
{
while(suart_putc(*str) == FALSE);
str++;
}
}
else
{
response_wait_time = atoi(config.group) * 4;
// response_wait_time = 16;
}
/* in our answer the two first byte is always the group number */
memcpy((void*)answer, (void*)config.group, CONFIG_GRP_LEN);
/* all is initialized, lets roll */
sei();
/* configure the mode button pin as input */
MODE_BUTTON_DDR &= ~_BV(MODE_BUTTON_PIN);
/* loop until the mode button pin is low */
while(bit_is_set(MODE_BUTTON_PORT, MODE_BUTTON_PIN))
{
uint8_t buffer[UART_FIFO_SIZE];
/* uart data (radio), parse it */
if(uart.stopchars)
{
uart.stopchars--;
/* copy it to our stack */
uint8_t i = 0;
while ((buffer[i] = uart_getc()) != PROTOCOL_STOPCHAR)
i++;
/*
* node -> parse it
* base -> pass along to the suart (to computer)
*/
if(config.flags.mode == CONFIG_MODE_BASE)
{
int j;
for(j=0;j<i;j++)
while(suart_putc(buffer[j]) == FALSE);
}
else {
if (cmd_parse(buffer, i)) {
// enable the send timer
TCNT2 = 0;
TIMSK |= _BV(OCIE2);
}
}
}
/*
* suart data (from computer)
* We only get this as base, so answer the command
* if it's addressed to us, and send to all nodes.
*/
if(suart.stopchars) {
suart.stopchars--;
uint8_t i = 0;
while ((buffer[i] = suart_getc()) != PROTOCOL_STOPCHAR)
i++;
if (cmd_parse(buffer, i)) {
i = 0;
if (command_parsed == 1) {
do {
suart_putc(answer[i]);
} while (answer[i++] != PROTOCOL_STOPCHAR);
command_parsed = 0;
}
}
//Send to radio
i = 0;
do {
uart_putc(buffer[i]);
} while (buffer[i++] != PROTOCOL_STOPCHAR);
}
}
/* we are closing down, do not disturb */
cli();
/* this is safe because we know that the mode is just one bit */
config.flags.mode = !config.flags.mode;
config_save();
rtc_save();
/* use the watchdog to get a nice clean reset */
wdt_enable(WDTO_15MS);
while(1);
}
int main(void)
{
int temp = 0; // Read temperature
//int sp_temp_get;
float temp_real = 0; // Real format temperature
//int t_sample = 100; // Time period samples read ms
//int t_control = 1000; // Time period control system ms
uint16_t t_sample = 0; // Time period samples read ms
int t_control = 0; // Time period control system ms
//long millis_ant1; // Aux timer
//long millis_ant2; // Aux timer
uint16_t out_pwm; // Out PWM control
double y_temp[PmA+2] = {0}; // Array out incremental y(k), y(k-1), y(k-2), y(k-3)
double u_temp[PmB+3] = {0}; // Array process input incremental u(k), u(k-1), u(k-2), u(k-3), u(k-4)
double t_temp[5] = {1.0, -0.3, 0.1, 0.1, 0.1}; // Array parameters adaptive mechanism a1k, a2k, b1k, b2k, b3k
double sp_temp[2] = {0}; // Set point process sp(k)
double yp_temp[2] = {0}; // Array process out yp(k)
cli(); // Disable interrupts
conductor_block(); // Calculate parameters conductor block
usart_init(); // Initialize USART
UCSR0B |= (1 << RXCIE0); // Enable interrupt RX (If enabled do not use functions get_xx)
adc_Setup(); // Initialize ADC
timer1_init(); // Timer system without interrupts
//timer0_init(); // Initialize timer0 system ms
timer2_init(); // Initialize timer2 PWM
sei();
DDRD |= (1 << PIND3); // Out PWM OC2B PIND3 Digital PIN 3
temp = adc_read(0); // Initialize temperature readers
//millis_ant1 = millis; // Initialize period samples
//millis_ant2 = millis; // Initialize period control
//eeprom_update_float(&eeprom_float,f);
//float eeprom_float_read;
//eeprom_float_read = eeprom_read_float(&eeprom_float);
//put_float(eeprom_float_read);
//put_string("\n Input SP temperature: ");
//sp_temp_get = get_int();
while(1)
{
// Samples read
//if ((millis - millis_ant1) >= t_sample){
//millis_ant1 = millis;
t_sample = TCNT1; // Catch sample time for integer angle gyro
T_CNT = T_SAMPLE * 1000L/64; // Number count temp1. 1 Count Temp1 64us => T_sample = Value_CNT1 = ms/64us
if (t_sample >= T_CNT){ // Attitude calculates Read IMU (Accel and Gyro)
TCNT1 = 0; // Restart sample time
t_control++; // Increment time Period control
temp = lpf(adc_read(0), temp, 0.1);
}
//if ((millis - millis_ant2) >= t_control){
//millis_ant2 = millis;
if (t_control >= T_CONTROL){ //Control action balancer
t_control = 0;
temp_real = temp * 110.0 / 1023.0; // solo en el control
//Adaptive predictive balancer process
sp_temp[0] = sp_temp_get; // Set point
yp_temp[0] = temp_real; // Process out y(k).
adaptive(sp_temp, t_temp, y_temp, u_temp, yp_temp, UP_PWM); // Call adaptive function
out_pwm = u_temp[0]; // Out Controller adaptive
if (out_pwm > UP_PWM) out_pwm = UP_PWM; // Upper limit out
else if (out_pwm < 0) out_pwm = 0;
//out_pwm = 0; // Off control
OCR2B = 255 - out_pwm; // Out PWM
put_float(temp_real);
put_string(" ");
put_int(OCR2B);
put_string(" ");
put_int(sp_temp_get);
//put_string(" ");
//put_float(NL);
//put_string(" ");
//put_float(GainA);
//put_string(" ");
//put_float(GainB);
//put_string(" ");
//put_int(T_SAMPLE);
//put_string(" ");
//put_int(T_CONTROL);
put_string("\n");
}
//TODO:: Please write your application code
}
}
int main(void)
{
// for 74HC595 port setting for LCD
SoftSPI_Init();
// for 74HC595 port setting for LED array
SoftSPI_LED_Init();
// Initialize LCD
lcd_init();
// Timer for PWM driver initialize
timer0_init();
// TachoMeter counter initialize
timer1_init();
// delay counter initialize
timer2_init();
// PWM output port definition
DDRD |= (1<<PD6);
// USART initialize
USARTinit(UBRR);
// Ext. Interupt setting
ExtInterrupt_init();
// TicToc initialize
tictoc_init(FOSC, Ndiv1);
// Tacho Meter Initialize
TachoMeter_init(FOSC,Ndiv1);
// Bar-Meter Initialize
BarMeter_init();
// Facemark character Initialize
FaceMark_init();
// Set Initial Target IDs
set_initial_t_id();
// Declarations
unsigned char* opening_message0 = "Multi-Function Meter";
unsigned char* opening_message1 = " Timer Test ";
unsigned char* opening_message2 = " Firmware Rev.6 ";
uint8_t n, m; // 'for' loop variables
uint8_t index = 0; // LCD displaying data index
uint16_t maxv = 2352; // maximum decimal angle data value from 'Defi Link Unit II'
uint8_t id; // ID index for processing
uint8_t valid_packet[Ndata]; // Validtity indicator
uint8_t low4bits[4]; // Extracted lower 4 bits from byte data
uint16_t dec_ang; // Angle data (decimal)
float dec_nrm; // Angle data (decimal)
float value[Ndata]; // Decoded value
uint16_t mult_factor[3]; // Multiplying factor for hexadecimal to decimal decoding
uint8_t digits_int[5]; // Digits integer data
unsigned char digits_char[5]; // Digits character data for display
float div_factor; // Dividing factor for integer
uint8_t digits_valid; // Indicate digits in integer are valid or invalid
// value = eq_grad * dec_nrm + eq_intercept
// Gradient-term of decoding equation
uint16_t eq_grad[] = {
3, // Turbo
9000, // Tacho
10, // Oil pres.
6, // Fuel pres.
900, // Ext. Temp.
100, // Oil Temp.
100 // Water Temp.
};
// Intercept-term of decoding equation
int16_t eq_intercept[] = {
-1, // Turbo
0, // Tacho
0, // Oil pres.
0, // Fuel pres.
200, // Ext. Temp.
50, // Oil Temp.
20 // Water Temp.
};
// Definition of number of significant figure
uint8_t Nsig[] = { // Number of significant figures
3, // Turbo
4, // Tacho
3, // Oil pres.
3, // Fuel pres.
4, // Ext. Temp.
3, // Oil Temp.
3 // Water Temp.
};
// Deifinition of number of integer figure
uint8_t Nint[] = { // Number of integr digits
1, // Turbo
4, // Tacho
2, // Oil pres.
1, // Fuel pres.
4, // Ext. Temp.
3, // Oil Temp.
3 // Water Temp.
};
uint8_t SIGN[] = { // Show +/-, enable showing is '1'
1, // Turbo
0, // Tacho
0, // Oil pres.
0, // Fuel pres.
0, // Ext. Temp.
0, // Oil Temp.
0 // Water Temp.
};
uint8_t Nspace[7]; // Number of space between character and digits
float Resolution[7];
RxName[0] = "BOOST";
RxName[1] = "TACHO";
RxName[2] = "OIL.P";
RxName[3] = "FUEL.P";
RxName[4] = "EXT.T";
RxName[5] = "OIL.T";
RxName[6] = "WATER.T";
/*
RxName[0] = "Boost";
RxName[1] = "Tacho";
RxName[2] = "Oil.P";
RxName[3] = "Fuel.P";
RxName[4] = "ExTmp";
RxName[5] = "Oil.T";
RxName[6] = "Water.T";
*/
/*
RxName[0] = "BS";
RxName[1] = "TC";
RxName[2] = "OP";
RxName[3] = "FP";
RxName[4] = "ET";
RxName[5] = "OT";
RxName[6] = "WT";
*/
/*
RxName[0] = "Boost";
RxName[1] = "Tacho";
RxName[2] = "Oil press";
RxName[3] = "Fuel press";
RxName[4] = "Ext. Temp.";
RxName[5] = "Oil Temp.";
RxName[6] = "Water Temp.";
*/
// Definition of Resolution for processing and number of space for display
for(n=0;n<7;n++){
Resolution[n] = 1;
for(m=0;m<Nsig[n]-Nint[n];m++){
Resolution[n] = Resolution[n] / 10;
}
RxNameLength[n] = StrLength(RxName[n]);
Nspace[n] = DISP_W - RxNameLength[n] - ( Nsig[n] + (Nsig[n]!=Nint[n]) + SIGN[n] );
}
mult_factor[0] = 1;
mult_factor[1] = 16;
mult_factor[2] = 256;
// delay_cnt = (unsigned long int)( ( WAIT*1.0 ) * ( (1.0*FOSC)/(1.0*Ndiv2) ) / 256.0 / 1000.0 );
delay_cnt = (unsigned long int)( ( WAIT*1.0 ) * ( (1.0*FOSC)/1000.0/(1.0*Ndiv2) ) / 256.0 );
/*
// opening @ LED array
for(n=0;n<=8;n++){
send_bits_595_LED(0x01 << n);
_delay_ms(60);
}
// opening @ LCD
_delay_ms(50);
lcd_locate(1,0);
for(n=0;n<LCD_W;n++){
lcd_set_char(opening_message0[n]);
_delay_ms(20);
}
lcd_locate(2,0);
for(n=0;n<LCD_W;n++){
lcd_set_char(opening_message1[n]);
_delay_ms(20);
}
lcd_locate(3,0);
for(n=0;n<LCD_W;n++){
lcd_set_char(opening_message2[n]);
_delay_ms(20);
}
// opening @ LED array
for(n=0;n<=8;n++){
send_bits_595_LED(~( 0xff << n ));
_delay_ms(30);
}
_delay_ms(250);
for(n=0;n<=8;n++){
send_bits_595_LED( 0xff >> n );
_delay_ms(30);
}
_delay_ms(50);
for(n=0;n<2;n++){
send_bits_595_LED(0xff);
_delay_ms(75);
send_bits_595_LED(0x00);
_delay_ms(75);
}
// Clear Opening
for(m=0;m<4;m++){
lcd_locate(m,0);
for(n=0;n<LCD_W;n++){
lcd_set_char(0x20);
_delay_ms(15);
}
}
*/
// Initialize data display for Defi Link Tap
for ( index = 0; index < Ndata; index++ ){
data_updated[index] = 1;
}
// Enable Interrupt
sei();
// Timer Test
DDRC = 0b00000001;
PORTC = 0b00000001;
// Timer Test
////// Main Process start //////
while(1){
if(lcd_update){
DisplayItemInfo();
lcd_locate((chg_index&0x03)>>1,8-(1-chg_index%2));
lcd_update = 0;
}
////// Measure Process //////
//// Defi Link Tap ////
for ( index = 0; index < Ndata; index++ ){
if( data_updated[index] == 1 ){
data_updated[index] = 0;
// Rx data read
id = t_id[index];
// Judge data validity
for( n = 1; n < 4; n++ ){
if( ( ( (data[index][n] >= '0') & (data[index][n] <= '9') )
|( (data[index][n] >= 'A') & (data[index][n] <= 'F') ) ) ){
valid_packet[index] = 1;
}else{
valid_packet[index] = 0;
break;
}
}
// end of judge
if ( valid_packet[index] == 1 ) {
// Change char to angle-dec
dec_ang = 0;
for( n = 1; n < 4; n++){ // data[0] is neglected because of it is control data
if ( (data[index][n] & 0xf0) == 0x30 ){
low4bits[n] = (unsigned int)(data[index][n] & 0x0f);
}else if ( (data[index][n] & 0xf0) == 0x40 ){
low4bits[n] = (unsigned int)(data[index][n] & 0x0f) + 9;
}else{
break;
}
dec_ang = dec_ang + low4bits[n] * mult_factor[3-n];
}
// end of Change char to angle-dec
// Change angle-dec to normlized-dec
dec_nrm = (float)dec_ang / (float)maxv;
// end of Change angle-dec to normlized-dec
// Change dec to ISO
value[index] = dec_nrm * eq_grad[id] + eq_intercept[id];
// end of change dec to ISO
}
}
}
rpm = TachoMeter();
/*
//debug
if( rpm > 8000 ){
rpm = 0;
}else{
rpm = rpm + 10;
}
//debug
*/
// Fuel Pump Driver
OCR0A = FuelPumpDriver(rpm, value[2],value[3]);
// value[2] ... Fuel Pressure
// value[3] ... Boost
////// Display Process //////
if( ( ( (0xffff - timer2_cnt_last) > delay_cnt ) && ( (timer2_cnt - timer2_cnt_last) > delay_cnt ) )
|| ( ( (0xffff - timer2_cnt_last) < delay_cnt ) && ( (timer2_cnt + (0xffff - timer2_cnt_last)) > delay_cnt ) ) ){
timer2_cnt_last = timer2_cnt;
// Timer Test
PORTC = ~PORTC;
// Timer Test
//// Defi Link Tap ////
for ( index = 0; index < Ndata; index++ ){
// Rx data read
id = t_id[index];
// clear value area of LCD
lcd_locate(index,RxNameLength[id]);
for (n=0;n<=(DISP_W-RxNameLength[id])-1;n++) {
lcd_set_char(' ');
}
// end of clear value area
// pad blank area of LCD
lcd_locate(index,RxNameLength[id]);
for (n=0;n<Nspace[id];n++){
lcd_set_char(' ');
}
// end of pad blank area of LCD
// display value
if ( valid_packet[index] == 1 ) {
lcd_set_numeric(value[index],Nint[id],Nsig[id]-Nint[id],SIGN[id]);
}else if( valid_packet[index] == 0 ){
for(n=0;n<(Nsig[id]!=Nint[id])+SIGN[id];n++){
lcd_set_char(' ');
}
for(n=0;n<Nsig[id];n++){
lcd_set_char('*');
}
}
// end of display value
}
// Display Facemark
lcd_locate(2,13);
if((unsigned int)rpm < 3000){
shobon();
}else if((unsigned int)rpm < 5000){
shakin();
}else{
kuwa();
lcd_set_str(" ");
}
// Update Indicator
lcd_locate(2,12);
lcd_set_char(0xff);
}else{
// Clear Update Indicator
lcd_locate(2,12);
lcd_set_char(' ');
}
//// Real-Time Update items
// Display RPM
lcd_locate(0,12);
lcd_set_numeric((unsigned int)rpm,5,0,0);
lcd_set_str("RPM");
// Display RPM @ Bar Meter
lcd_locate(3,12);
BarMeter_disp((unsigned int)rpm);
}
return 0;
}
void heart_init(void)
{
timer2_init();
}
static void led3_thread_entry(void* parameter)
{
rt_kprintf ( "\r\n led3_thread_entry!!\r\n");
irmp_init(); // initialize irmp
irsnd_init();
timer2_init(); // initialize timer2
rt_kprintf ( "\r\n 红外收发系统初始化完成!\r\n");
for (;;)
{
char *str;
// rt_kprintf ( "IRMP is going!!!\r\n");
rt_thread_delay(1);
if(RT_EOK== (rt_mb_recv(&dfs_mb,(rt_uint32_t*)&str,RT_WAITING_NO)))
{rt_kprintf("接收到控制邮件，数据为 %s",str);
// TIM_Cmd(TIM2, ENABLE);
if(strcmp(str,"getremote")==0)
hot_remote_state=1;
if(strcmp(str,"sendremote")==0)
hot_remote_send=1;
}
if (irmp_get_data (&irmp_data))
{
rt_kprintf("接收红外信号编码方式: %s",irmp_protocol_names[irmp_data.protocol]);
rt_kprintf(" 编码地址: 0x%2X",irmp_data.address);
rt_kprintf(" 命令: 0x%2X",irmp_data.command);
rt_kprintf(" 标志位: 0x%2X\r\n",irmp_data.flags );
if(1==hot_remote_state)
{
hot_remote_state=2;
irmp_data1=irmp_data;
rt_mb_send(&mb,(rt_uint32_t)get_remot1_mp3);//发送邮件
rt_kprintf("红外接收完成第一次\n" );
}
else if(2==hot_remote_state)
{
if(irmp_data1.command==irmp_data.command)
{
rt_kprintf("红外接收完成第二次,验证通过\n" );
rt_mb_send(&mb,(rt_uint32_t)get_remot2_mp3);//发送邮件
hot_remote_state=0;
// TIM_Cmd(TIM2, DISABLE);
}
else {
rt_kprintf("红外接收完成第二次,验证不通过，再次接收红外数据\n" );
rt_mb_send(&mb,(rt_uint32_t)check_fail_mp3);//发送邮件
hot_remote_state=1;
}
}
}
if(hot_remote_send)
{
hot_remote_send=0;
// TIM_Cmd(TIM2, ENABLE);
/* irmp_data.protocol = IRMP_SAMSUNG32_PROTOCOL; // use NEC protocol
irmp_data.address = 0x0e0e; // set address to 0x00FF
irmp_data.command = 0xf30c; // set command to 0x0001
irmp_data.flags = 0; // don't repeat frame*/
irsnd_send_data (&irmp_data, TRUE); // send frame, wait for completion // don't repeat frame
rt_mb_send(&mb,(rt_uint32_t)sen_remot_mp3);
rt_kprintf("发送红外数据完成\n");
rt_kprintf("发射红外信号编码方式: %s",irmp_protocol_names[irmp_data.protocol]);
rt_kprintf(" 编码地址: 0x%2X",irmp_data.address);
rt_kprintf(" 命令: 0x%2X",irmp_data.command);
rt_kprintf(" 标志位: 0x%2X\r\n",irmp_data.flags );
// TIM_Cmd(TIM2, DISABLE);
}
}
}
void board_init(void)
{
timer0_init();
timer2_init();
interrupt_init();
}